#!/bin/sh
#
# @name Generic 250 Racer
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board bitcraze_crazyflie exclude
#

. ${R}etc/init.d/rc.mc_defaults

param set-default MC_ROLL_P 8
param set-default MC_ROLLRATE_P 0.08
param set-default MC_ROLLRATE_I 0.25
param set-default MC_ROLLRATE_D 0.001
param set-default MC_PITCH_P 8
param set-default MC_PITCHRATE_P 0.08
param set-default MC_PITCHRATE_D 0.001
param set-default MC_YAW_P 4

param set-default MC_ROLLRATE_MAX 1600
param set-default MC_PITCHRATE_MAX 1600
param set-default MC_YAWRATE_MAX 1000

param set-default MPC_MAN_TILT_MAX 60

param set-default THR_MDL_FAC 0.3

# enable high-rate logging profile (helps with tuning)
param set-default SDLOG_PROFILE 19

param set-default IMU_DGYRO_CUTOFF 50
param set-default IMU_GYRO_CUTOFF 90

# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05

param set-default MPC_Z_VEL_MAX_UP 3.0
param set-default MPC_Z_VEL_MAX_DN 3.0
